CN116098707A - Wireless electromagnetic wave guided teleoperation system - Google Patents
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Abstract
The invention relates to the technical field of medical treatment, in particular to a teleoperation system guided by wireless electromagnetic waves, which comprises: and an image acquisition module: the device is used for collecting an operation side operation image and uploading the operation side operation image to an operation side; the instruction acquisition module: the device is used for collecting operation side operation instructions; and an image analysis module: the device is used for analyzing the collected operation images according to the received operation instructions to obtain operation positions; surgical positioning module: for locating each surgical site by transmitting a wireless electromagnetic wave; and a position correction module: the image analysis module is used for analyzing the operation position of the patient; the instruction generation module: generating an execution instruction of the surgical device according to the located surgical position; the device execution module: and the instructions are used for controlling the surgical equipment to execute the instructions uploaded by the instruction generation module. The invention can locate and guide the surgical positions with different depths and the positions of surgical tools by emitting the wireless electromagnetic waves, thereby improving the efficiency and success rate of remote surgery.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a wireless electromagnetic wave guided teleoperation system.
Background
The remote operation is based on computer technology, remote sensing, remote measuring and remote control technology, and is conducted by the expert of a medical center of a large hospital or a special department to conduct remote operation guidance on patients in the hospital with poor medical conditions, so that the smooth completion of the operation is ensured.
The traditional method for judging by visual observation before operation and experience of doctors and touch sense during operation cannot be well suitable for remote operation, and even if the examination data is referenced before operation, the method can not be accurately positioned during operation due to reasons such as fuzzy memory, image errors or vision errors, and the like, and the operation condition is generally displayed through the shot two-dimensional images when the remote operation is executed at present. However, since teleoperation involves an operation on a patient's blood vessel, and the vascular access of the human body is complicated, it is difficult to intuitively grasp the current patient's condition and the specific position of the surgical instrument only from the captured image, and thus the surgical effect is affected, and a medical accident may be caused when serious. Therefore, the invention provides a wireless electromagnetic wave guided teleoperation system, which can position and guide the positions of operation positions and operation tools with different depths by emitting wireless electromagnetic waves, thereby improving the success rate of teleoperation.
Disclosure of Invention
The object of the present invention is to solve the drawbacks presented in the background art above by proposing a tele-surgery system guided by wireless electromagnetic waves.
The technical scheme adopted by the invention is as follows:
a tele-surgical system providing wireless electromagnetic wave guidance, comprising:
and an image acquisition module: the device is used for collecting an operation side operation image and uploading the operation side operation image to an operation side;
the instruction acquisition module: the device is used for collecting operation side operation instructions;
and an image analysis module: the device is used for analyzing the collected operation images according to the received operation instructions to obtain operation positions;
surgical positioning module: for locating each surgical site by transmitting a wireless electromagnetic wave;
and a position correction module: the image analysis module is used for analyzing the operation position of the patient;
the instruction generation module: generating an execution instruction of the surgical device according to the located surgical position;
the device execution module: and the instructions are used for controlling the surgical equipment to execute the instructions uploaded by the instruction generation module.
As a preferred technical scheme of the invention: the image acquisition module acquires the image information of the operation side through a plurality of cameras, and performs fusion uploading on the image information of the operation side to the display screen of the operation side for fusion display.
As a preferred technical scheme of the invention: the image analysis module analyzes and obtains each operation position based on a pre-uploaded operation scheme.
As a preferred technical scheme of the invention: in the operation positioning module, the current position coordinates of the operation tool are acquired through an acceleration sensor and a magnetic sensor in the operation tool.
As a preferred technical scheme of the invention: the positioning steps of the surgical tool are as follows:
wherein ,、/>、/>the inclination angle, azimuth angle and toolface angle of the measuring point are respectively +.>、/>、/>For the 3 component measurements of the axis of the acceleration sensor,/->、/>、/>For the measurement of 3 components of the geomagnetic field, +.>Is the gravity acceleration value;
in the moving process of the surgical tool, taking the average value of the attitude values of adjacent measuring points as the attitude value of the surgical tool to calculate a straight line segment, and setting the firstCoordinates of individual measuring points->It is calculated as follows:
wherein ,indicate->Inclination angle of each measuring point->Indicate->Azimuth angle of each measuring point,/->Indicate->Inclination angle of each measuring point->Indicate->Azimuth angle of each measuring point,/->Is->Measure points and->Distance between each measuring point->The azimuth angle is designed for the main.
As a preferred technical scheme of the invention: in the operation positioning module, each operation position acquired in the image analysis module is positioned by transmitting wireless electromagnetic waves.
As a preferred technical scheme of the invention: in the positioning process, the operation position is initially positioned through a trilateral positioning algorithm, and positioning optimization of the operation position is performed on the operation position through a Kalman filtering algorithm.
As a preferred technical scheme of the invention: the surgical position positioning steps in the surgical positioning module are as follows:
performing operation position positioning through a four-point space positioning algorithm:
wherein ,for the surgical position coordinates>,/>,/>,/>Position coordinates of four radio electromagnetic wave transmitters respectively,/->、/>、/>、/>The distances between the coordinates of the operation position and the four wireless electromagnetic wave transmitters are respectively;
The positioning adjustment is performed by a kalman filtering algorithm,
providing a current position state vector in a random linear discrete surgical position location systemSystem procedure random noise->System state transition matrix->Noise input matrix->Systematic observations +.>Observation matrix->Observation noiseThe state variance and observation equation are:
system process noise varianceForward setting, observed noise variance->The Kalman filter estimation process is non-negative as follows:
wherein ,a one-step prediction error variance matrix; right upper corner->Representing a transposed matrix;
and (3) transforming to obtain:
As a preferred technical scheme of the invention: the position correction module performs positioning correction on each operation position positioned in the operation positioning module, and sequentially records and uploads the operation positions to the instruction generation end according to the operation sequence of each operation position.
As a preferred technical scheme of the invention: the instruction generation module generates an execution instruction of the surgical equipment according to the positioning coordinates of the surgical tool, the positioning coordinates of each surgical position and the surgical sequence.
Compared with the prior art, the wireless electromagnetic wave guided teleoperation system provided by the invention has the beneficial effects that:
according to the invention, the surgical positions with different depths and the positions and the guidance of surgical tools can be positioned by emitting the wireless electromagnetic waves, the positioning accuracy is improved by a Kalman filtering algorithm, the surgical positions are guided according to the surgical sequence, and the efficiency and success rate of remote surgery are improved.
Drawings
Fig. 1 is a system block diagram of a preferred embodiment of the present invention.
The meaning of each label in the figure is: 100. an image acquisition module; 200. an instruction acquisition module; 300. an image analysis module; 400. a surgical positioning module; 500. a position correction module; 600. an instruction generation module; 700. the device executes the module.
Detailed Description
It should be noted that, under the condition of no conflict, the embodiments of the present embodiments and features in the embodiments may be combined with each other, and the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a preferred embodiment of the present invention provides a wireless electromagnetic wave guided tele-surgery system comprising:
the image acquisition module 100: the device is used for collecting an operation side operation image and uploading the operation side operation image to an operation side;
instruction acquisition module 200: the device is used for collecting operation side operation instructions;
image analysis module 300: the device is used for analyzing the collected operation images according to the received operation instructions to obtain operation positions;
surgical positioning module 400: for locating each surgical site by transmitting a wireless electromagnetic wave;
the position correction module 500: the device is used for comparing and correcting the positioned operation position according to the operation position analyzed by the image analysis module 300;
instruction generation module 600: generating an execution instruction of the surgical device according to the located surgical position;
device execution module 700: instructions for controlling the surgical device to execute the uploading of the instruction generation module 600.
The image acquisition module 100 acquires image information of the operation side through a plurality of cameras, and performs fusion uploading on the image information of the operation side to an operation side display screen for fusion display.
The image analysis module 300 obtains each surgical site based on a pre-uploaded surgical plan analysis.
In the surgical positioning module 400, the current position coordinates of the surgical tool are acquired through an acceleration sensor and a magnetic sensor in the surgical tool.
The positioning steps of the surgical tool are as follows:
wherein ,、/>、/>the inclination angle, azimuth angle and toolface angle of the measuring point are respectively +.>、/>、/>For the 3 component measurements of the axis of the acceleration sensor,/->、/>、/>For the measurement of 3 components of the geomagnetic field, +.>Is the gravity acceleration value;
in the moving process of the surgical tool, taking the average value of the attitude values of adjacent measuring points as the attitude value of the surgical tool to calculate a straight line segment, and setting the firstCoordinates of individual measuring points->It is calculated as follows: />
wherein ,indicate->Inclination angle of each measuring point->Indicate->Azimuth angle of each measuring point,/->Indicate->Inclination angle of each measuring point->Indicate->Azimuth angle of each measuring point,/->Is->Measure points and->Distance between each measuring point->The azimuth angle is designed for the main.
In the present embodiment, since noise and errors may exist in the real-time measurement values of the acceleration sensor and the magnetic sensor, the measurement values need to be filtered and calibrated to ensure the accuracy and reliability of the calculation. The present embodiment uses the kalman filter technique as an example:
1. prediction state:
2. prediction covariance:
3. calculating Kalman gain:
4. updating the state:
5. updating covariance:
wherein, acceleration sensor and magnetic sensor real-time measurement value express as the vector:the measured value is expressed as a state variable +.>Measurement noise is expressed as->The state transition matrix is denoted +.>The state noise is expressed as +.>The measurement matrix is denoted->The Kalman gain is expressed as +.>. State variable->The method comprises the following steps:
wherein the state transition matrix a describes the relationship of the state transition of the posture of the surgical tool from one moment to the next moment, and the form can be expressed as:
The measurement matrix H describes the relationship between the state of the pose of the surgical tool and the measured values of the acceleration sensor and the magnetic sensor, which can be expressed in the form of:
wherein ,、/>、/>representing the inclination, azimuth and toolface angles, respectively, in the state of the pose of the surgical tool.
In the operation positioning module 400, each operation position acquired in the image analysis module 300 is positioned by transmitting a wireless electromagnetic wave.
In the positioning process, the operation position is initially positioned through a trilateral positioning algorithm, and positioning optimization of the operation position is performed on the operation position through a Kalman filtering algorithm.
The surgical position locating steps in the surgical position locating module 400 are as follows:
performing operation position positioning through a four-point space positioning algorithm:
wherein ,for the surgical position coordinates>,/>,/>,/>Position coordinates of four radio electromagnetic wave transmitters respectively,/->、/>、/>、/>The distances between the coordinates of the operation position and the four wireless electromagnetic wave transmitters are respectively;
the positioning adjustment is performed by a kalman filtering algorithm,
providing a current position state vector in a random linear discrete surgical position location systemSystem procedure random noise->System state transition matrix->Noise input matrix->Systematic observations +.>Observation matrix->Observation noiseThe state variance and observation equation are:
system process noise varianceForward setting, observed noise variance->The Kalman filter estimation process is non-negative as follows:
wherein ,a one-step prediction error variance matrix; right upper corner->Representing a transposed matrix;
and (3) transforming to obtain:
The position correction module 500 performs positioning correction on each surgical position positioned in the surgical positioning module 400, and sequentially records and uploads the surgical positions to the instruction generating end according to the surgical sequence of each surgical position.
The instruction generation module 600 generates an execution instruction of the surgical device according to the positioning coordinates of the surgical tool, the positioning coordinates of each surgical position, and the surgical order.
In this embodiment, before the teleoperation is performed, the doctor negotiates to obtain the surgical treatment scheme, the image acquisition module 100 acquires the image of the surgical site of the patient at the operation side, and the instruction acquisition module 200 may generate a preset surgical instruction for the doctor to select according to the surgical treatment scheme, or generate a surgical instruction according to the instruction sent by the doctor at the operation side. When the image analysis module 300 receives the operation instruction transmitted from the operation side, if the scalpel is moved from the first positioning position to the second positioning position on the surface of the operation part, the collected operation image is analyzed to obtain the first positioning position and the second positioning position in the operation image, and the first positioning position and the second positioning position are uploaded to the operation positioning module 400, the operation positioning module 400 positions the operation position by emitting wireless electromagnetic waves, and the wireless electromagnetic waves can guide and position the surface or the inside of the operation part on the operation side by adjusting the emission wavelength.
The surgical positioning module 400 respectively performs positioning on various surgical tools, a first positioning position and a second positioning position, wherein, taking a surgical knife which is needed at present as an example, an acceleration sensor and a magnetic sensor are arranged in the surgical knife, and the surgical knife which may be in a moving state is positioned:
wherein ,、/>、/>the inclination angle, azimuth angle and toolface angle of the measuring point are respectively +.>、/>、/>For the 3 component measurements of the axis of the acceleration sensor,/->、/>、/>For the measurement of 3 components of the geomagnetic field, +.>Is the gravity acceleration value;
in the moving process of the surgical tool, taking the average value of the attitude values of the adjacent measuring points as the attitude value of the surgical tool to calculate a straight line segment, and setting 5 measuring points in total for the surgical knife, and then setting the coordinates of the 2 nd measuring pointThe following are provided: />
wherein ,indicate->Inclination angle of each measuring point->Indicate->Azimuth angle of each measuring point,/->Indicate->Inclination angle of each measuring point->Indicate->Azimuth angle of each measuring point,/->Is->Measure points and->Distance between each measuring point->The azimuth angle is designed for the main.
And then positioning the first operation position and the second operation position by a four-point positioning method:
wherein ,coordinate of surgical site one>Coordinate of surgical site two, +.>,,/>,/>Respectively four transmitter bitsCoordinate setting up->、/>、/>、/>The coordinate distance of the surgical position one from the four wireless electromagnetic wave transmitters, +.>、/>、/>、/>The distances between the coordinates of the second operation position and the four wireless electromagnetic wave transmitters are respectively;
calculating to obtain the coordinates of the first surgical siteAnd surgical site two coordinates->, wherein :
A. b, C, D are coordinate reduction matrices respectively:
positioning adjustment is carried out through a Kalman filtering algorithm, and the initial value of the system is used and />According to the observation value +.>Deducing the position state estimation value of the kth moment by recursion>And obtaining the adjusted first positioning position and the adjusted second positioning position.
And (3) respectively positioning the first positioning position and the second positioning position based on the positioning algorithm, comparing and correcting the first positioning position and the second positioning position with the position coordinates analyzed by the image analysis module 300, and if positioning deviation exists, repositioning the first positioning position by the operation positioning module 400 until the minimum positioning accuracy is reached. After the positioning is completed, the instruction generating module 600 generates an execution instruction of the surgical tool according to the surgical tool position and the positioning position one and the positioning position two, for example, the surgical knife is rotated by 30 degrees and then vertically moved downwards to the surgical surface by 10 cm, and then moved in the direction of the surgical knife by 2 cm, and the device executing module 700 receives the execution instruction and controls the surgical knife to perform the surgical operation according to the execution instruction.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (10)
1. A wireless electromagnetic wave guided tele-surgery system, characterized in that: comprising the following steps:
image acquisition module (100): the device is used for collecting an operation side operation image and uploading the operation side operation image to an operation side;
instruction acquisition module (200): the device is used for collecting operation side operation instructions;
image analysis module (300): the device is used for analyzing the collected operation images according to the received operation instructions to obtain operation positions;
surgical positioning module (400): for locating each surgical site by transmitting a wireless electromagnetic wave;
position correction module (500): the device is used for comparing and correcting the positioned operation position according to the operation position analyzed by the image analysis module (300);
instruction generation module (600): generating an execution instruction of the surgical device according to the located surgical position;
device execution module (700): instructions for controlling the surgical device to execute the uploading of the instruction generation module (600).
2. The wireless electromagnetic wave guided tele-surgical system of claim 1, wherein: the image acquisition module (100) acquires operation side image information through a plurality of cameras, and performs fusion uploading on the operation side image information to the operation side display screen for fusion display.
3. The wireless electromagnetic wave guided tele-surgical system of claim 1, wherein: the image analysis module (300) obtains each surgical site based on a pre-uploaded surgical plan analysis.
4. A wireless electromagnetic wave guided tele-surgical system according to claim 3, characterized in that: in the operation positioning module (400), the current position coordinates of the operation tool are acquired through an acceleration sensor and a magnetic sensor in the operation tool.
5. The wireless electromagnetic wave guided tele-surgical system of claim 4, wherein: the positioning steps of the surgical tool are as follows:
wherein ,、/>、/>the inclination angle, azimuth angle and toolface angle of the measuring point are respectively +.>、/>、/>For the 3 component measurements of the axis of the acceleration sensor,/->、/>、/>For the measurement of 3 components of the geomagnetic field, +.>Is the gravity acceleration value;
in the moving process of the surgical tool, taking the average value of the attitude values of adjacent measuring points as the attitude value of the surgical tool to calculate a straight line segment, and setting the firstCoordinates of individual measuring points->It is calculated as follows:
wherein ,indicate->Inclination angle of each measuring point->Indicate->Azimuth angle of each measuring point,/->Indicate->Inclination angle of each measuring point->Indicate->Azimuth angle of each measuring point,/->Is->Measure points and->Distance between each measuring point->The azimuth angle is designed for the main.
6. The wireless electromagnetic wave guided tele-surgical system of claim 4, wherein: in the operation positioning module (400), each operation position acquired in the image analysis module (300) is positioned by transmitting a wireless electromagnetic wave.
7. The wireless electromagnetic wave guided tele-surgical system of claim 6, wherein: in the positioning process, the operation position is initially positioned through a trilateral positioning algorithm, and positioning optimization of the operation position is performed on the operation position through a Kalman filtering algorithm.
8. The wireless electromagnetic wave guided tele-surgical system of claim 7, wherein: the surgical position locating step in the surgical position locating module (400) is as follows:
performing operation position positioning through a four-point space positioning algorithm:
wherein ,for the surgical position coordinates>,/>,/>,/>Respectively fourPosition coordinates of the radio electromagnetic wave emitters, +.>、/>、/>、/>The distances between the coordinates of the operation position and the four wireless electromagnetic wave transmitters are respectively;
the positioning adjustment is performed by a kalman filtering algorithm,
providing a current position state vector in a random linear discrete surgical position location systemSystem procedure random noise->System state transition matrix->Noise input matrix->Systematic observations +.>Observation matrix->Observation noise->The state variance and observation equation are:
system process noise varianceForward setting, observed noise variance->The Kalman filter estimation process is non-negative as follows:
wherein ,a one-step prediction error variance matrix; right upper corner->Representing a transposed matrix;
and (3) transforming to obtain:
9. The wireless electromagnetic wave guided tele-surgical system of claim 8, wherein: the position correction module (500) performs positioning correction on each operation position positioned in the operation positioning module (400), and sequentially records and uploads the operation positions to the instruction generation end according to the operation sequence of each operation position.
10. The wireless electromagnetic wave guided tele-surgical system of claim 9, wherein: the instruction generation module (600) generates execution instructions of the surgical device according to the positioning coordinates of the surgical tool, the positioning coordinates of each surgical position and the surgical sequence.
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